STM32CubeIDE 1.2.0 how to debug FreeRTOS multithreading

Hi all,

I'm developing an application with FreeRTOS and some task. In debug mode I'd like to jump from one to another without any issue. I really don't understand how. When I pause debug, the compiler always stop in the Idle Task. So I really can't debug my code. Also because two of my task just communicate by a simple semaphore. I'd would like to debug exactly the same way as FreeRTOS there isn't. Is it possible?

Thank you.

Best regards